//
// Created by dell on 24-12-20.
// Improved I2C driver with better state machine and error handling
//

#include "i2c.h"

/* Private variables */
static uint8_t i2c_retry_count = 0;

/*!
    \brief      write 16-bit data to I2C device with improved state machine
    \param[in]  slave_addr: 7-bit slave address
    \param[in]  reg_addr: register address
    \param[in]  data: pointer to 2-byte data array
    \param[out] none
    \retval     i2c_status_t
*/
i2c_status_t i2c_write_16bits(uint8_t slave_addr, uint8_t reg_addr, const uint8_t data[2]) {
    i2c_state_t state = I2C_STATE_START;
    uint16_t timeout = 0;
    uint8_t data_index = 0;
    uint8_t retry_count = 0;

    /* Parameter validation */
    if (data == NULL || slave_addr > 0x7F) {
        return I2C_STATUS_INVALID_PARAM;
    }

    /* Enable acknowledge */
    i2c_ack_config(I2C0, I2C_ACK_ENABLE);

    while (retry_count < I2C_MAX_RETRY) {
        switch (state) {
            case I2C_STATE_START:
                timeout = 0;
                /* Wait for bus to be idle */
                while (i2c_flag_get(I2C0, I2C_FLAG_I2CBSY) && (timeout < I2C_TIME_OUT)) {
                    timeout++;
                }
                if (timeout >= I2C_TIME_OUT) {
                    state = I2C_STATE_ERROR;
                    break;
                }

                /* Send start condition */
                i2c_start_on_bus(I2C0);
                state = I2C_STATE_SEND_ADDRESS;
                timeout = 0;
                break;

            case I2C_STATE_SEND_ADDRESS:
                /* Wait for start condition to be sent */
                while ((!i2c_flag_get(I2C0, I2C_FLAG_SBSEND)) && (timeout < I2C_TIME_OUT)) {
                    timeout++;
                }
                if (timeout >= I2C_TIME_OUT) {
                    state = I2C_STATE_ERROR;
                    break;
                }

                /* Send slave address with write bit */
                i2c_master_addressing(I2C0, (slave_addr << 1), I2C_TRANSMITTER);
                state = I2C_STATE_CLEAR_ADDRESS;
                timeout = 0;
                break;

            case I2C_STATE_CLEAR_ADDRESS:
                /* Wait for address to be acknowledged */
                while ((!i2c_flag_get(I2C0, I2C_FLAG_ADDSEND)) && (timeout < I2C_TIME_OUT)) {
                    timeout++;
                }
                if (timeout >= I2C_TIME_OUT) {
                    state = I2C_STATE_ERROR;
                    break;
                }

                /* Clear address flag */
                i2c_flag_clear(I2C0, I2C_FLAG_ADDSEND);
                state = I2C_STATE_TRANSMIT_REG;
                timeout = 0;
                break;

            case I2C_STATE_TRANSMIT_REG:
                /* Wait for transmit buffer to be empty */
                while ((!i2c_flag_get(I2C0, I2C_FLAG_TBE)) && (timeout < I2C_TIME_OUT)) {
                    timeout++;
                }
                if (timeout >= I2C_TIME_OUT) {
                    state = I2C_STATE_ERROR;
                    break;
                }

                /* Send register address */
                i2c_data_transmit(I2C0, reg_addr);
                state = I2C_STATE_TRANSMIT_DATA;
                timeout = 0;
                data_index = 0;
                break;

            case I2C_STATE_TRANSMIT_DATA:
                /* Wait for byte transfer complete */
                while ((!i2c_flag_get(I2C0, I2C_FLAG_BTC)) && (timeout < I2C_TIME_OUT)) {
                    timeout++;
                }
                if (timeout >= I2C_TIME_OUT) {
                    state = I2C_STATE_ERROR;
                    break;
                }

                /* Send data bytes */
                if (data_index < 2) {
                    i2c_data_transmit(I2C0, data[data_index]);
                    data_index++;
                    timeout = 0;
                    /* Stay in this state until all data is sent */
                } else {
                    /* All data sent, proceed to stop */
                    state = I2C_STATE_STOP;
                    timeout = 0;
                }
                break;

            case I2C_STATE_STOP:
                /* Send stop condition */
                i2c_stop_on_bus(I2C0);

                /* Wait for stop condition to complete */
                while ((I2C_CTL0(I2C0) & I2C_CTL0_STOP) && (timeout < I2C_TIME_OUT)) {
                    timeout++;
                }
                if (timeout >= I2C_TIME_OUT) {
                    state = I2C_STATE_ERROR;
                    break;
                }

                /* Success */
                return I2C_STATUS_SUCCESS;

            case I2C_STATE_ERROR:
                /* Send stop condition to release bus */
                i2c_stop_on_bus(I2C0);

                /* Increment retry counter */
                retry_count++;
                if (retry_count >= I2C_MAX_RETRY) {
#ifdef DEBUG_VERBOSE
                    // printf("I2C write failed after %d retries\r\n", I2C_MAX_RETRY);
                    const char* msg5_prefix = "I2C write failed after ";
                    for (uint8_t i = 0; msg5_prefix[i] != '\0'; i++) {
                        while (usart_flag_get(I2C_DEBUG_UART, USART_FLAG_TBE) == RESET) {}
                        usart_data_transmit(I2C_DEBUG_UART, msg5_prefix[i]);
                    }
                    while (usart_flag_get(I2C_DEBUG_UART, USART_FLAG_TBE) == RESET) {}
                    usart_data_transmit(I2C_DEBUG_UART, '0' + I2C_MAX_RETRY);
                    const char* msg5_suffix = " retries\r\n";
                    for (uint8_t i = 0; msg5_suffix[i] != '\0'; i++) {
                        while (usart_flag_get(I2C_DEBUG_UART, USART_FLAG_TBE) == RESET) {}
                        usart_data_transmit(I2C_DEBUG_UART, msg5_suffix[i]);
                    }
                    while (usart_flag_get(I2C_DEBUG_UART, USART_FLAG_TC) == RESET) {}
#endif
                    return I2C_STATUS_TIMEOUT;
                }

                /* Reset state machine for retry */
                state = I2C_STATE_START;
                timeout = 0;
                data_index = 0;

                /* Small delay before retry */
                delay_10us(10);
                break;

            default:
                state = I2C_STATE_ERROR;
                break;
        }
    }

    return I2C_STATUS_TIMEOUT;
}

/*!
    \brief      read 16-bit data from I2C device with improved state machine
    \param[in]  slave_addr: 7-bit slave address
    \param[in]  reg_addr: register address
    \param[out] data: pointer to 2-byte data buffer
    \retval     i2c_status_t
*/
i2c_status_t i2c_read_16bits(uint8_t slave_addr, uint8_t reg_addr, uint8_t *data) {
    i2c_state_t state = I2C_STATE_START;
    uint16_t timeout = 0;
    uint8_t data_index = 0;
    uint8_t retry_count = 0;
    bool write_phase = true;  /* First phase: write register address */

    /* Parameter validation */
    if (data == NULL || slave_addr > 0x7F) {
        return I2C_STATUS_INVALID_PARAM;
    }

    /* Enable acknowledge */
    i2c_ack_config(I2C0, I2C_ACK_ENABLE);

    while (retry_count < I2C_MAX_RETRY) {
        switch (state) {
            case I2C_STATE_START:
                timeout = 0;
                /* Wait for bus to be idle */
                while (i2c_flag_get(I2C0, I2C_FLAG_I2CBSY) && (timeout < I2C_TIME_OUT)) {
                    timeout++;
                }
                if (timeout >= I2C_TIME_OUT) {
                    state = I2C_STATE_ERROR;
                    break;
                }

                /* Configure ACK position for 2-byte read */
                if (!write_phase) {
                    i2c_ackpos_config(I2C0, I2C_ACKPOS_NEXT);
                }

                /* Send start condition */
                i2c_start_on_bus(I2C0);
                state = I2C_STATE_SEND_ADDRESS;
                timeout = 0;
                break;

            case I2C_STATE_SEND_ADDRESS:
                /* Wait for start condition to be sent */
                while ((!i2c_flag_get(I2C0, I2C_FLAG_SBSEND)) && (timeout < I2C_TIME_OUT)) {
                    timeout++;
                }
                if (timeout >= I2C_TIME_OUT) {
                    state = I2C_STATE_ERROR;
                    break;
                }

                /* Send slave address */
                if (write_phase) {
                    /* Write phase: send address with write bit */
                    i2c_master_addressing(I2C0, (slave_addr << 1), I2C_TRANSMITTER);
                } else {
                    /* Read phase: send address with read bit */
                    i2c_master_addressing(I2C0, (slave_addr << 1) | 0x01, I2C_RECEIVER);
                    /* Disable ACK for last byte */
                    i2c_ack_config(I2C0, I2C_ACK_DISABLE);
                }
                state = I2C_STATE_CLEAR_ADDRESS;
                timeout = 0;
                break;

            case I2C_STATE_CLEAR_ADDRESS:
                /* Wait for address to be acknowledged */
                while ((!i2c_flag_get(I2C0, I2C_FLAG_ADDSEND)) && (timeout < I2C_TIME_OUT)) {
                    timeout++;
                }
                if (timeout >= I2C_TIME_OUT) {
                    state = I2C_STATE_ERROR;
                    break;
                }

                /* Clear address flag */
                i2c_flag_clear(I2C0, I2C_FLAG_ADDSEND);

                if (write_phase) {
                    state = I2C_STATE_TRANSMIT_REG;
                } else {
                    /* For single byte read, send stop after clearing address */
                    if (data_index == 1) {
                        i2c_stop_on_bus(I2C0);
                    }
                    state = I2C_STATE_RECEIVE_DATA;
                    data_index = 0;
                }
                timeout = 0;
                break;

            case I2C_STATE_TRANSMIT_REG:
                /* Wait for transmit buffer to be empty */
                while ((!i2c_flag_get(I2C0, I2C_FLAG_TBE)) && (timeout < I2C_TIME_OUT)) {
                    timeout++;
                }
                if (timeout >= I2C_TIME_OUT) {
                    state = I2C_STATE_ERROR;
                    break;
                }

                /* Send register address */
                i2c_data_transmit(I2C0, reg_addr);
                state = I2C_STATE_RESTART;
                timeout = 0;
                break;

            case I2C_STATE_RESTART:
                /* Wait for byte transfer complete */
                while ((!i2c_flag_get(I2C0, I2C_FLAG_BTC)) && (timeout < I2C_TIME_OUT)) {
                    timeout++;
                }
                if (timeout >= I2C_TIME_OUT) {
                    state = I2C_STATE_ERROR;
                    break;
                }

                /* Switch to read phase */
                write_phase = false;
                state = I2C_STATE_START;
                timeout = 0;
                break;

            case I2C_STATE_RECEIVE_DATA:
                if (data_index < 2) {
                    if (data_index == 1) {
                        /* Wait for BTC before sending stop for last byte */
                        while ((!i2c_flag_get(I2C0, I2C_FLAG_BTC)) && (timeout < I2C_TIME_OUT)) {
                            timeout++;
                        }
                        if (timeout >= I2C_TIME_OUT) {
                            state = I2C_STATE_ERROR;
                            break;
                        }
                        /* Send stop condition before reading last byte */
                        i2c_stop_on_bus(I2C0);
                    }

                    /* Wait for receive buffer not empty */
                    while ((!i2c_flag_get(I2C0, I2C_FLAG_RBNE)) && (timeout < I2C_TIME_OUT)) {
                        timeout++;
                    }
                    if (timeout >= I2C_TIME_OUT) {
                        state = I2C_STATE_ERROR;
                        break;
                    }

                    /* Read data byte */
                    data[data_index] = i2c_data_receive(I2C0);
                    data_index++;
                    timeout = 0;

                    if (data_index >= 2) {
                        state = I2C_STATE_STOP;
                    }
                } else {
                    state = I2C_STATE_STOP;
                }
                break;

            case I2C_STATE_STOP:
                /* Wait for stop condition to complete */
                while ((I2C_CTL0(I2C0) & I2C_CTL0_STOP) && (timeout < I2C_TIME_OUT)) {
                    timeout++;
                }
                if (timeout >= I2C_TIME_OUT) {
                    state = I2C_STATE_ERROR;
                    break;
                }

                /* Success */
                return I2C_STATUS_SUCCESS;

            case I2C_STATE_ERROR:
                /* Send stop condition to release bus */
                i2c_stop_on_bus(I2C0);

                /* Increment retry counter */
                retry_count++;
                if (retry_count >= I2C_MAX_RETRY) {
#ifdef DEBUG_VERBOSE
                    // printf("I2C read failed after %d retries\r\n", I2C_MAX_RETRY);
                    const char* msg6_prefix = "I2C read failed after ";
                    for (uint8_t i = 0; msg6_prefix[i] != '\0'; i++) {
                        while (usart_flag_get(I2C_DEBUG_UART, USART_FLAG_TBE) == RESET) {}
                        usart_data_transmit(I2C_DEBUG_UART, msg6_prefix[i]);
                    }
                    while (usart_flag_get(I2C_DEBUG_UART, USART_FLAG_TBE) == RESET) {}
                    usart_data_transmit(I2C_DEBUG_UART, '0' + I2C_MAX_RETRY);
                    const char* msg6_suffix = " retries\r\n";
                    for (uint8_t i = 0; msg6_suffix[i] != '\0'; i++) {
                        while (usart_flag_get(I2C_DEBUG_UART, USART_FLAG_TBE) == RESET) {}
                        usart_data_transmit(I2C_DEBUG_UART, msg6_suffix[i]);
                    }
                    while (usart_flag_get(I2C_DEBUG_UART, USART_FLAG_TC) == RESET) {}
#endif
                    return I2C_STATUS_TIMEOUT;
                }

                /* Reset state machine for retry */
                state = I2C_STATE_START;
                write_phase = true;
                timeout = 0;
                data_index = 0;

                /* Small delay before retry */
                delay_10us(10);
                break;

            default:
                state = I2C_STATE_ERROR;
                break;
        }
    }

    return I2C_STATUS_TIMEOUT;
}

/*!
    \brief      get status string for debugging
    \param[in]  status: i2c_status_t value
    \param[out] none
    \retval     const char* status string
*/
const char* i2c_get_status_string(i2c_status_t status) {
    switch (status) {
        case I2C_STATUS_SUCCESS:
            return "SUCCESS";
        case I2C_STATUS_TIMEOUT:
            return "TIMEOUT";
        case I2C_STATUS_NACK:
            return "NACK";
        case I2C_STATUS_BUS_BUSY:
            return "BUS_BUSY";
        case I2C_STATUS_ERROR:
            return "ERROR";
        case I2C_STATUS_INVALID_PARAM:
            return "INVALID_PARAM";
        default:
            return "UNKNOWN";
    }
}

//
// Created by dell on 24-12-3.
// LDC1612 Inductive Sensor Driver Implementation
//

#include "ldc1612.h"

/* Private function prototypes */
static i2c_status_t ldc1612_write_register(uint8_t reg_addr, uint16_t value);
static i2c_status_t ldc1612_read_register(uint8_t reg_addr, uint16_t *value);
static uint16_t ldc1612_calculate_clock_dividers(uint8_t channel);
static uint32_t ldc1612_parse_raw_result(uint32_t raw_result);

/*!
    \brief      初始化LDC1612传感器
    \param[in]  none
    \param[out] none
    \retval     ldc1612_status_t
*/
ldc1612_status_t ldc1612_init(void) {
    i2c_status_t i2c_status;
    uint16_t device_id, manufacturer_id;
    
    /* 复位传感器 */
    i2c_status = ldc1612_reset();
    if (i2c_status != I2C_STATUS_SUCCESS) {
        return LDC1612_STATUS_ERROR;
    }
    
    /* 等待复位完成 */
    delay_ms(10);
    
    /* 验证设备ID */
    device_id = ldc1612_get_device_id();
    manufacturer_id = ldc1612_get_manufacturer_id();
    
    if (device_id != 0x3055 || manufacturer_id != 0x5449) {
        return LDC1612_STATUS_ERROR;
    }
    
    return LDC1612_STATUS_SUCCESS;
}

/*!
    \brief      复位LDC1612传感器
    \param[in]  none
    \param[out] none
    \retval     ldc1612_status_t
*/
ldc1612_status_t ldc1612_reset(void) {
    i2c_status_t status = ldc1612_write_register(LDC1612_RESET_DEV, LDC1612_RESET_VALUE);
    return (status == I2C_STATUS_SUCCESS) ? LDC1612_STATUS_SUCCESS : LDC1612_STATUS_ERROR;
}

/*!
    \brief      配置单通道模式
    \param[in]  channel: 通道号 (0或1)
    \param[out] none
    \retval     ldc1612_status_t
*/
ldc1612_status_t ldc1612_config_single_channel(uint8_t channel) {
    i2c_status_t status;
    uint16_t clock_dividers;
    
    if (channel > 1) {
        return LDC1612_STATUS_INVALID_PARAM;
    }
    
    /* 进入休眠模式进行配置 */
    status = ldc1612_write_register(LDC1612_CONFIG, LDC1612_SENSOR_CONFIG_SLEEP);
    if (status != I2C_STATUS_SUCCESS) return LDC1612_STATUS_ERROR;
    
    /* 计算并设置时钟分频 */
    clock_dividers = ldc1612_calculate_clock_dividers(channel);
    status = ldc1612_write_register(LDC1612_CLOCK_DIVIDERS_CH0 + channel, clock_dividers);
    if (status != I2C_STATUS_SUCCESS) return LDC1612_STATUS_ERROR;
    
    /* 设置稳定时间 */
    status = ldc1612_write_register(LDC1612_SETTLECOUNT_CH0 + channel, LDC1612_SETTLECOUNT_CH0_DEFAULT);
    if (status != I2C_STATUS_SUCCESS) return LDC1612_STATUS_ERROR;
    
    /* 设置转换时间 */
    status = ldc1612_write_register(LDC1612_RCOUNT_CH0 + channel, LDC1612_CONVERSION_TIME_CH0);
    if (status != I2C_STATUS_SUCCESS) return LDC1612_STATUS_ERROR;
    
    /* 设置错误配置 */
    status = ldc1612_write_register(LDC1612_ERROR_CONFIG, LDC1612_ERROR_CONFIG_DEFAULT);
    if (status != I2C_STATUS_SUCCESS) return LDC1612_STATUS_ERROR;
    
    /* 设置驱动电流 */
    status = ldc1612_write_register(LDC1612_DRIVE_CURRENT_CH0 + channel, LDC1612_DRIVE_CURRENT_DEFAULT);
    if (status != I2C_STATUS_SUCCESS) return LDC1612_STATUS_ERROR;
    
    /* 设置MUX配置 */
    status = ldc1612_write_register(LDC1612_MUX_CONFIG, LDC1612_MUX_CONFIG_DEFAULT);
    if (status != I2C_STATUS_SUCCESS) return LDC1612_STATUS_ERROR;
    
    /* 退出休眠模式，开始转换 */
    status = ldc1612_write_register(LDC1612_CONFIG, LDC1612_SENSOR_CONFIG_ACTIVE);
    if (status != I2C_STATUS_SUCCESS) return LDC1612_STATUS_ERROR;
    
    return LDC1612_STATUS_SUCCESS;
}

/*!
    \brief      读取制造商ID
    \param[in]  none
    \param[out] none
    \retval     uint16_t 制造商ID
*/
uint16_t ldc1612_get_manufacturer_id(void) {
    uint16_t id = 0;
    ldc1612_read_register(LDC1612_MANUFACTURER_ID, &id);
    return id;
}

/*!
    \brief      读取设备ID
    \param[in]  none
    \param[out] none
    \retval     uint16_t 设备ID
*/
uint16_t ldc1612_get_device_id(void) {
    uint16_t id = 0;
    ldc1612_read_register(LDC1612_DEVICE_ID, &id);
    return id;
}

/*!
    \brief      读取通道原始数据
    \param[in]  channel: 通道号
    \param[out] result: 结果结构体指针
    \retval     ldc1612_status_t
*/
ldc1612_status_t ldc1612_read_channel(uint8_t channel, ldc1612_result_t *result) {
    uint16_t msb, lsb;
    uint32_t raw_data;
    i2c_status_t status;
    
    if (channel > 1 || result == NULL) {
        return LDC1612_STATUS_INVALID_PARAM;
    }
    
    /* 读取MSB */
    status = ldc1612_read_register(LDC1612_DATA_CH0_MSB + (channel * 2), &msb);
    if (status != I2C_STATUS_SUCCESS) return LDC1612_STATUS_ERROR;
    
    /* 读取LSB */
    status = ldc1612_read_register(LDC1612_DATA_CH0_LSB + (channel * 2), &lsb);
    if (status != I2C_STATUS_SUCCESS) return LDC1612_STATUS_ERROR;
    
    /* 组合32位数据 */
    raw_data = ((uint32_t)msb << 16) | lsb;
    
    /* 解析结果 */
    result->raw_data = raw_data;
    result->frequency = ldc1612_parse_raw_result(raw_data);
    
    /* 检查错误 */
    if (result->frequency >= 0x10000000) {
        result->error_flag = true;
        result->error_code = (result->frequency >> 24) & 0xFF;
        return LDC1612_STATUS_ERROR;
    } else {
        result->error_flag = false;
        result->error_code = 0;
    }
    
    return LDC1612_STATUS_SUCCESS;
}

/*!
    \brief      设置驱动电流
    \param[in]  channel: 通道号
    \param[in]  current: 电流值
    \param[out] none
    \retval     ldc1612_status_t
*/
ldc1612_status_t ldc1612_set_drive_current(uint8_t channel, uint16_t current) {
    if (channel > 1) {
        return LDC1612_STATUS_INVALID_PARAM;
    }
    
    i2c_status_t status = ldc1612_write_register(LDC1612_DRIVE_CURRENT_CH0 + channel, current);
    return (status == I2C_STATUS_SUCCESS) ? LDC1612_STATUS_SUCCESS : LDC1612_STATUS_ERROR;
}

/*!
    \brief      自动检测驱动电流
    \param[in]  channel: 通道号
    \param[out] none
    \retval     ldc1612_status_t
*/
ldc1612_status_t ldc1612_auto_detect_drive_current(uint8_t channel) {
    uint16_t config_value, drive_current_reg;
    uint16_t init_value, drive_current;
    i2c_status_t status;
    
    if (channel > 1) {
        return LDC1612_STATUS_INVALID_PARAM;
    }
    
    /* 进入休眠模式 */
    status = ldc1612_write_register(LDC1612_CONFIG, LDC1612_SENSOR_CONFIG_SLEEP);
    if (status != I2C_STATUS_SUCCESS) return LDC1612_STATUS_ERROR;
    
    /* 设置时钟分频 */
    uint16_t clock_dividers = ldc1612_calculate_clock_dividers(channel);
    status = ldc1612_write_register(LDC1612_CLOCK_DIVIDERS_CH0 + channel, clock_dividers);
    if (status != I2C_STATUS_SUCCESS) return LDC1612_STATUS_ERROR;
    
    /* 读取当前配置并禁用Rp覆盖 */
    status = ldc1612_read_register(LDC1612_CONFIG, &config_value);
    if (status != I2C_STATUS_SUCCESS) return LDC1612_STATUS_ERROR;
    
    config_value &= ~(1 << 12); // 禁用RP_OVERRIDE_EN
    status = ldc1612_write_register(LDC1612_CONFIG, config_value);
    if (status != I2C_STATUS_SUCCESS) return LDC1612_STATUS_ERROR;
    
    /* 启动测量 */
    status = ldc1612_write_register(LDC1612_CONFIG, LDC1612_SENSOR_CONFIG_ACTIVE);
    if (status != I2C_STATUS_SUCCESS) return LDC1612_STATUS_ERROR;
    
    /* 等待至少一次转换完成 */
    delay_ms(10);
    
    /* 读取初始驱动电流值 */
    status = ldc1612_read_register(LDC1612_DRIVE_CURRENT_CH0 + channel, &drive_current_reg);
    if (status != I2C_STATUS_SUCCESS) return LDC1612_STATUS_ERROR;
    
    init_value = (drive_current_reg >> 6) & 0x1F;
    drive_current = (init_value << 11) | 0x0000;
    
    /* 写入检测到的驱动电流 */
    status = ldc1612_write_register(LDC1612_DRIVE_CURRENT_CH0 + channel, drive_current);
    if (status != I2C_STATUS_SUCCESS) return LDC1612_STATUS_ERROR;
    
    return LDC1612_STATUS_SUCCESS;
}

/*!
    \brief      获取状态字符串
    \param[in]  status: 状态码
    \param[out] none
    \retval     const char* 状态字符串
*/
const char* ldc1612_get_status_string(ldc1612_status_t status) {
    switch (status) {
        case LDC1612_STATUS_SUCCESS:
            return "SUCCESS";
        case LDC1612_STATUS_ERROR:
            return "ERROR";
        case LDC1612_STATUS_TIMEOUT:
            return "TIMEOUT";
        case LDC1612_STATUS_INVALID_PARAM:
            return "INVALID_PARAM";
        case LDC1612_STATUS_NO_COIL:
            return "NO_COIL";
        case LDC1612_STATUS_UNDER_RANGE:
            return "UNDER_RANGE";
        case LDC1612_STATUS_OVER_RANGE:
            return "OVER_RANGE";
        default:
            return "UNKNOWN";
    }
}

/* Private Functions Implementation */

/*!
    \brief      写入寄存器
    \param[in]  reg_addr: 寄存器地址
    \param[in]  value: 写入值
    \param[out] none
    \retval     i2c_status_t
*/
static i2c_status_t ldc1612_write_register(uint8_t reg_addr, uint16_t value) {
    uint8_t data[2];
    data[0] = (value >> 8) & 0xFF;
    data[1] = value & 0xFF;

    return i2c_write_16bits(LDC1612_ADDR, reg_addr, data);
}

/*!
    \brief      读取寄存器
    \param[in]  reg_addr: 寄存器地址
    \param[out] value: 读取值指针
    \retval     i2c_status_t
*/
static i2c_status_t ldc1612_read_register(uint8_t reg_addr, uint16_t *value) {
    uint8_t data[2];
    i2c_status_t status;

    if (value == NULL) {
        return I2C_STATUS_INVALID_PARAM;
    }

    status = i2c_read_16bits(LDC1612_ADDR, reg_addr, data);
    if (status == I2C_STATUS_SUCCESS) {
        *value = ((uint16_t)data[0] << 8) | data[1];
    }

    return status;
}

/*!
    \brief      计算时钟分频值
    \param[in]  channel: 通道号
    \param[out] none
    \retval     uint16_t 分频值
*/
static uint16_t ldc1612_calculate_clock_dividers(uint8_t channel) {
    uint16_t fin_div, fref_div;
    float sensor_freq;

    /* 计算传感器频率 (MHz) */
    sensor_freq = 1.0f / (2.0f * 3.14159f * sqrtf(LDC1612_COIL_L_UH * LDC1612_COIL_C_PF * 1e-18f)) * 1e-6f;

    /* 计算FIN分频 */
    fin_div = (uint16_t)(sensor_freq / 8.75f + 1);

    /* 计算FREF分频 */
    if (fin_div * 4 < 40) {
        fref_div = 2;
    } else {
        fref_div = 4;
    }

    return (fin_div << 12) | fref_div;
}

/*!
    \brief      解析原始结果
    \param[in]  raw_result: 原始数据
    \param[out] none
    \retval     uint32_t 解析后的数据
*/
static uint32_t ldc1612_parse_raw_result(uint32_t raw_result) {
    uint32_t calibration_value;
    uint8_t error_code;

    calibration_value = raw_result & 0x0FFFFFFF;

    /* 检查无线圈错误 */
    if (calibration_value == 0x0FFFFFFF) {
        return LDC1612_ERROR_NO_COIL;
    }

    error_code = (raw_result >> 24) & 0xFF;

    /* 检查各种错误 */
    if (error_code & 0x80) {
        return LDC1612_ERROR_UNDER_RANGE;
    }
    if (error_code & 0x40) {
        return LDC1612_ERROR_OVER_RANGE;
    }
    if (error_code & 0x20) {
        return LDC1612_ERROR_WATCHDOG;
    }
    if (error_code & 0x10) {
        return LDC1612_ERROR_AMPLITUDE;
    }

    return calibration_value;
}


// ldc1612.h
//
// Created by dell on 24-12-3.
// LDC1612 Inductive Sensor Driver Header
//

#ifndef LDC1612_H
#define LDC1612_H

#include "gd32e23x_it.h"
#include "gd32e23x.h"
#include "systick.h"
#include <stdbool.h>
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include "board_config.h"
#include "i2c.h"

/******************************************************************************/
/* LDC1612 I2C Address */
#define LDC1612_ADDR         (0x2B)  // 7-bit address

/* Register Addresses */
/******************************************************************************/
#define LDC1612_DATA_CH0_MSB                    0x00
#define LDC1612_DATA_CH0_LSB                    0x01
#define LDC1612_DATA_CH1_MSB                    0x02
#define LDC1612_DATA_CH1_LSB                    0x03
#define LDC1612_RCOUNT_CH0                      0x08
#define LDC1612_RCOUNT_CH1                      0x09
#define LDC1612_OFFSET_CH0                      0x0C
#define LDC1612_OFFSET_CH1                      0x0D
#define LDC1612_SETTLECOUNT_CH0                 0x10
#define LDC1612_SETTLECOUNT_CH1                 0x11
#define LDC1612_CLOCK_DIVIDERS_CH0              0x14
#define LDC1612_CLOCK_DIVIDERS_CH1              0x15
#define LDC1612_STATUS                          0x18
#define LDC1612_ERROR_CONFIG                    0x19
#define LDC1612_CONFIG                          0x1A
#define LDC1612_MUX_CONFIG                      0x1B
#define LDC1612_RESET_DEV                       0x1C
#define LDC1612_DRIVE_CURRENT_CH0               0x1E
#define LDC1612_DRIVE_CURRENT_CH1               0x1F
#define LDC1612_MANUFACTURER_ID                 0x7E
#define LDC1612_DEVICE_ID                       0x7F

/* Channel Definitions */
/******************************************************************************/
#define LDC1612_CHANNEL_0                       0
#define LDC1612_CHANNEL_1                       1

/* Configuration Values */
/******************************************************************************/
#define LDC1612_CONVERSION_TIME_CH0             0x0546  // 转换时间
#define LDC1612_DRIVE_CURRENT_DEFAULT           0x9000  // 驱动电流
#define LDC1612_MUX_CONFIG_DEFAULT              0x020C  // 无自动扫描，滤波器带宽3.3MHz
#define LDC1612_SENSOR_CONFIG_ACTIVE            0x1601  // 激活配置
#define LDC1612_SENSOR_CONFIG_SLEEP             0x2801  // 休眠配置
#define LDC1612_ERROR_CONFIG_DEFAULT            0x0000  // 错误配置
#define LDC1612_SETTLECOUNT_CH0_DEFAULT         0x001E  // 稳定时间
#define LDC1612_RESET_VALUE                     0x8000  // 复位值

/* Coil Parameters */
/******************************************************************************/
#define LDC1612_COIL_RP_KOHM                    7.2f    // 并联电阻 (kΩ)
#define LDC1612_COIL_L_UH                       33.0f   // 电感值 (μH)
#define LDC1612_COIL_C_PF                       150.0f  // 电容值 (pF)
#define LDC1612_COIL_Q_FACTOR                   35.97f  // 品质因数
#define LDC1612_COIL_FREQ_HZ                    2262000 // 谐振频率 (Hz)

/* Error Codes */
/******************************************************************************/
#define LDC1612_ERROR_NONE                      0x00000000
#define LDC1612_ERROR_NO_COIL                   0xF0000000
#define LDC1612_ERROR_UNDER_RANGE               0x80000000
#define LDC1612_ERROR_OVER_RANGE                0x40000000
#define LDC1612_ERROR_WATCHDOG                  0x20000000
#define LDC1612_ERROR_AMPLITUDE                 0x10000000

/* Status Definitions */
/******************************************************************************/
typedef enum {
    LDC1612_STATUS_SUCCESS = 0,
    LDC1612_STATUS_ERROR,
    LDC1612_STATUS_TIMEOUT,
    LDC1612_STATUS_INVALID_PARAM,
    LDC1612_STATUS_NO_COIL,
    LDC1612_STATUS_UNDER_RANGE,
    LDC1612_STATUS_OVER_RANGE
} ldc1612_status_t;

typedef struct {
    uint32_t raw_data;
    uint32_t frequency;
    float distance_mm;
    bool error_flag;
    uint8_t error_code;
} ldc1612_result_t;

/******************************************************************************/
/* Function Declarations */

/*!
    \brief      初始化LDC1612传感器
    \param[in]  none
    \param[out] none
    \retval     ldc1612_status_t
*/
ldc1612_status_t ldc1612_init(void);

/*!
    \brief      复位LDC1612传感器
    \param[in]  none
    \param[out] none
    \retval     ldc1612_status_t
*/
ldc1612_status_t ldc1612_reset(void);

/*!
    \brief      配置单通道模式
    \param[in]  channel: 通道号 (0或1)
    \param[out] none
    \retval     ldc1612_status_t
*/
ldc1612_status_t ldc1612_config_single_channel(uint8_t channel);

/*!
    \brief      读取制造商ID
    \param[in]  none
    \param[out] none
    \retval     uint16_t 制造商ID
*/
uint16_t ldc1612_get_manufacturer_id(void);

/*!
    \brief      读取设备ID
    \param[in]  none
    \param[out] none
    \retval     uint16_t 设备ID
*/
uint16_t ldc1612_get_device_id(void);

/*!
    \brief      读取通道原始数据
    \param[in]  channel: 通道号
    \param[out] result: 结果结构体指针
    \retval     ldc1612_status_t
*/
ldc1612_status_t ldc1612_read_channel(uint8_t channel, ldc1612_result_t *result);

/*!
    \brief      设置驱动电流
    \param[in]  channel: 通道号
    \param[in]  current: 电流值
    \param[out] none
    \retval     ldc1612_status_t
*/
ldc1612_status_t ldc1612_set_drive_current(uint8_t channel, uint16_t current);

/*!
    \brief      自动检测驱动电流
    \param[in]  channel: 通道号
    \param[out] none
    \retval     ldc1612_status_t
*/
ldc1612_status_t ldc1612_auto_detect_drive_current(uint8_t channel);

/*!
    \brief      获取状态字符串
    \param[in]  status: 状态码
    \param[out] none
    \retval     const char* 状态字符串
*/
const char* ldc1612_get_status_string(ldc1612_status_t status);

#endif //LDC1612_H